ROS2 Humble Docker 컨테이너에 Duckietown

이미 다 빌드하고 실행하려면

docker run -it duckietown/gym-duckietown bash
Xvfb :0 -screen 0 1024x768x24 -ac +extension GLX +render -noreset &> xvfb.log &
export DISPLAY=:0

https://github.com/duckietown/gym-duckietown

---

 

방법1

이후 나올 내용들 출처
https://hub.docker.com/r/duckietown/gym-duckietown
https://github.com/duckietown/dockertown
https://docs-old.duckietown.org/daffy/AIDO/out/embodied.html

계정 생성
https://hub.duckietown.com/signup/?_gl=1*dyy6af*_ga*Njk0NDE4MTQzLjE3MDg0MDgwNjU.*_ga_2186L8L2XJ*MTcxMDQyMzY2My4zLjEuMTcxMDQyNDE3MS41MC4wLjA.*_ga_99KJ333WVW*MTcxMDQyMzY2My4yLjEuMTcxMDQyNDE3My41MC4wLjA.*_gcl_au*MzIzMzkzMjYuMTcwODQwODA2NQ..

docker pull duckietown/gym-duckietown
docker run -it duckietown/gym-duckietown bash

Xvfb :0 -screen 0 1024x768x24 -ac +extension GLX +render -noreset &> xvfb.log &
export DISPLAY=:0

python3 pytorch_rl/main.py \
        --algo a2c \
        --env-name Duckietown-loop_obstacles-v0 \
        --lr 0.0002 \
        --max-grad-norm 0.5 \
        --no-vis \
        --num-steps 20

위의 명령어를 실행하면 RL로 동작

docker build . \
       --file ./docker/standalone/Dockerfile \
       --no-cache=true \
       --network=host \
       --tag <YOUR_TAG_GOES_HERE>

빌드하고 싶을 경우 위의 명령어 실행

 

장애물 회피 관련 https://github.com/duckietown/duckietown-mplan2

git clone git@github.com:duckietown/duckietown-world.git
cd duckietown-world
pip install -r requirements.txt
python setup.py develop --no-deps

cd ..
git clone git@github.com:duckietown/duckietown-mplan2.git
cd duckietown-mplan2
pip install -r lib-mplan/requirements.txt
git submodule update --init --recursive

빌드
소싱

roslaunch duckietown_mplan mplan_withviz_demo.launch demo_num:=5

 

 

---

방법2

아래 내용 마저 정리하기

바탕화면에 duckie_ws 폴더를 하나 생성하고 안에 Dockerfile을 위치시켰다

Dockerfile

0.01MB

https://duvallee.tistory.com/25

################################################################################
# 
# Copyright (C) 2023
# 
# Dockerfile for ROS2-humble
#
#   uBuntu Version : 22.04.2 LTS (Jammy Jellyfish)
#   ROS2 : humble
#   gazebo : 6.12.0 (fortress)
#   graphic driver : nvidia-driver-515 (RTX 1060 3GB) 
#
# by duvallee
# 
################################################################################
FROM ubuntu:22.04
FROM ros:humble

# ----------------------------------------------------------------------------
# changed mirror site from archive.ubuntu.com to kr.archive.ubunyu.com
RUN sed -i 's/archive.ubuntu.com/ftp.daumkakao.com/g' /etc/apt/sources.list
RUN sed -i 's/security.ubuntu.com/ftp.daumkakao.com/g' /etc/apt/sources.list

# ----------------------------------------------------------------------------
RUN apt-get update
RUN apt-get -y install apt-utils

# -----------------------------------------------------------------------------
# running 32 bit program on 64 bit uBuntu
RUN dpkg --add-architecture i386
RUN apt-get -y install libc6-i386

# -----------------------------------------------------------------------------
# add locale package & set
ENV DEBIAN_FRONTEND noninteractive
RUN apt-get -y install locales
RUN dpkg-reconfigure locales
RUN locale-gen en_US.UTF-8
RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
RUN export LANG=en_US.UTF-8

# -----------------------------------------------------------------------------
# change time-zone from UTC to Seoul of korea
RUN ln -sf /usr/share/zoneinfo/Asia/Seoul /etc/localtime

# -----------------------------------------------------------------------------
# install package
RUN apt-get install -y  \
                     curl  \
                     sudo  \
                     vim   \
                     unzip \
                     tree  \
                     xterm \
                     sed   \
                     flex  \
                     screen   \
                     git-core \
                     gnupg2   \
                     lsb-release \
                     build-essential \
                     cmake \
                     git   \
                     libbullet-dev  \
                     python3-flake8 \
                     python3-pip \
                     python3-pytest-cov \
                     python3-rosdep \
                     python3-setuptools \
                     wget
 
RUN python3 -m pip install -U   \
                     argcomplete \
                     flake8-blind-except \
                     flake8-builtins \
                     flake8-class-newline \
                     flake8-comprehensions \
                     flake8-deprecated \
                     flake8-docstrings \
                     flake8-import-order \
                     flake8-quotes \
                     pytest-repeat \
                     pytest-rerunfailures \
                     pytest
RUN apt-get install --no-install-recommends -y \
                     libasio-dev \
                     libtinyxml2-dev \
                     libcunit1-dev
# -----------------------------------------------------------------------------
# NVIDIA RTX 1060
RUN apt-get install -y mesa-utils nvidia-driver-515

# -----------------------------------------------------------------------------
RUN apt-get install -y software-properties-common
RUN add-apt-repository universe
 
# -----------------------------------------------------------------------------
# ROS2 Desktop version
RUN apt-get update
RUN apt-get install -y ros-humble-desktop
RUN apt-get install -y ros-humble-joint-state-publisher-gui 
RUN apt-get install -y ros-humble-xacro 
RUN apt-get install -y python3-colcon-common-extensions 
RUN apt-get install -y python3-vcstool

# -----------------------------------------------------------------------------
# gazebo
RUN apt-get install -y ignition-fortress

# -----------------------------------------------------------------------------
# clean update files
RUN apt-get clean
RUN rm -rf /var/lib/apt/lists/* -vf
RUN apt-get update

# -----------------------------------------------------------------------------
ENV RUN_USER user
ENV DEFAULT_PASSWORD l
ENV RUN_UID 1001

# -----------------------------------------------------------------------------
# change root password
RUN echo "root:$DEFAULT_PASSWORD" | chpasswd

# -----------------------------------------------------------------------------
# add user
RUN useradd -m -s /bin/bash -u $RUN_UID $RUN_USER
RUN id $RUN_USER
RUN echo "$RUN_USER:$DEFAULT_PASSWORD" | chpasswd

# -----------------------------------------------------------------------------
# login as RUN_USER
USER $RUN_USER
WORKDIR /home/$RUN_USER

# -----------------------------------------------------------------------------
# environment
# Sets language to UTF8 : this works in pretty much all cases
ENV LANG en_US.UTF-8
ENV LS_COLORS "di=00;36:fi=00;37"
ENV PATH=/bin:/sbin:/usr/bin:/usr/local/bin:$PATH

# -----------------------------------------------------------------------------
RUN echo "" >> /home/$RUN_USER/.bashrc
RUN echo "alias l='ls -l'" >> /home/$RUN_USER/.bashrc
RUN echo "alias ll='ls -al'" >> /home/$RUN_USER/.bashrc
RUN echo "LS_COLORS=\"di=00;36:fi=00;37\"" >> /home/$RUN_USER/.bashrc
RUN echo "" >> /home/$RUN_USER/.bashrc

# -----------------------------------------------------------------------------
# for ROS2
RUN echo "source /opt/ros/humble/setup.bash" >> /home/$RUN_USER/.bashrc
RUN echo "export RMW_IMPLEMENTATION=rmw_fastrtps_cpp" >> /home/$RUN_USER/.bashrc
RUN echo "glxinfo | grep \"OpenGL version\"" >> /home/$RUN_USER/get_opengl.sh
RUN echo "ign gazebo empty.sdf --render-engine ogre" >> /home/$RUN_USER/old_gazebo.sh
RUN echo "ign gazebo empty.sdf" >> /home/$RUN_USER/gazebo.sh

RUN chmod 775 /home/$RUN_USER/get_opengl.sh
RUN chmod 775 /home/$RUN_USER/old_gazebo.sh
RUN chmod 775 /home/$RUN_USER/gazebo.sh

# -----------------------------------------------------------------------------
USER root

# -----------------------------------------------------------------------------
# add user to sudoers
RUN chmod 0666 /etc/sudoers
RUN echo "$RUN_USER  ALL=(ALL:ALL) ALL " >> /etc/sudoers
RUN chmod 0440 /etc/sudoers

# -----------------------------------------------------------------------------
USER $RUN_USER
WORKDIR /home/$RUN_USER

---

도커 이미지 빌드

cd duckie_ws/
docker build -t duckie_ws:humble-jammy-rtx1060 .

이미지 이름이 duckie_ws이고, 버전은 humble

---

도커 이미지 실행(로컬에 있는 이미지)

docker run --rm -it --privileged  --net=host -e DISPLAY=$DISPLAY \
           -v /tmp/.X11-unix:/tmp/.X11-unix  \
           -v /tmp/runtime-user:/tmp/runtime-user \
           --name duckie-ws -v $PWD:/home/user/project duckie_ws:humble-jammy-rtx1060 /bin/bash

# 도커-허브 있는 이미지 실행
docker run --rm -it --privileged  --net=host -e DISPLAY=$DISPLAY \
           -v /tmp/.X11-unix:/tmp/.X11-unix  \
           -v /tmp/runtime-user:/tmp/runtime-user \
           --name duckie-ws -v $PWD:/home/user/project duvallee/ros2-ubuntu-rtx1060:humble-jammy /bin/bash
                                                       duckie_ws:humble-jammy-rtx1060

도커 이미지를 시뮬레이션할 때 GUI를 사용하기 때문에 xterm에서 실행한다
-v 옵션으로 호스트와 도커 컨테이너의 파일 시스템을 공유하도록 했다

이는 다른 터미널을 연 후에 아래 명령어를 치면 연결할 수 있다

docker attach duckie-ws

---

 

git clone https://github.com/duckietown/gym-duckietown.git
cd gym-duckietown
pip3 install -e .